CN203843043U - Automatic feeding manipulator - Google Patents
Automatic feeding manipulator Download PDFInfo
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- CN203843043U CN203843043U CN201420095867.5U CN201420095867U CN203843043U CN 203843043 U CN203843043 U CN 203843043U CN 201420095867 U CN201420095867 U CN 201420095867U CN 203843043 U CN203843043 U CN 203843043U
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- mechanical arm
- stretching
- feeding manipulator
- manipulator
- conveyer belt
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- 239000000463 material Substances 0.000 claims description 17
- 238000004080 punching Methods 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 7
- 230000001939 inductive effect Effects 0.000 claims description 7
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 238000003754 machining Methods 0.000 abstract 1
- 210000002683 Foot Anatomy 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 230000003068 static Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 239000011435 rock Substances 0.000 description 2
- 230000001360 synchronised Effects 0.000 description 2
- 206010000372 Accident at work Diseases 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000000875 corresponding Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002708 enhancing Effects 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 239000002828 fuel tank Substances 0.000 description 1
- 229920002635 polyurethane Polymers 0.000 description 1
- 239000004814 polyurethane Substances 0.000 description 1
- 230000001681 protective Effects 0.000 description 1
- 230000000153 supplemental Effects 0.000 description 1
Abstract
The utility model discloses an automatic feeding manipulator which comprises a loading manipulator, a loading table, a transfer conveyor belt, a stretching manipulator and an electric control box. The loading manipulator is provided with a loading grip which is used for shifting workpieces on the loading table, and the loading table is matched with the loading grip and is arranged below the loading manipulator; the loading manipulator is adjacent to the stretching manipulator; the transfer conveyor belt is arranged below the loading manipulator and the stretching manipulator; the stretching manipulator is provided with a stretching grip which is used for shifting workpieces on the transfer conveyor belt; the electric control box is electrically connected with the loading table, the loading manipulator, the transfer conveyor belt and the stretching manipulator respectively. The automatic feeding manipulator has the advantages that the machining efficiency can be effectively improved, the production cost can be saved, double-piece conditions can be effectively detected, and damage to dies can be prevented.
Description
Technical field
The utility model relates to a kind of automated production equipment, in particular a kind of automatic feeder tool hand.
Background technology
In recent years, automatic producing technology has had larger development, the feeding mechanical hand of various automations occurs in succession, but existing feeding mechanical hand also exists and manyly need to continue improved place, as being called " stamping mechanical arm " in name, in the utility model patent that application number is " 201220526332.X ", disclose one and be applied to punching press, the feeding mechanical hand of drawing process, the erecting of this manipulator is set to planer-type, the frame of this planer-type exists the problem that applicability is not strong, in the time that the workpiece model of producing is larger, corresponding also necessary supporting large-scale frame, thereby cause processing cost too high.The hand that the material loading of this manipulator is used is grabbed the hand of using with feeding and is grabbed and be wholely set on manipulator body, is synchronized with the movement, very large because hand is grabbed the inertia being synchronized with the movement, so the problem that there will be fuselage to rock in feeding process.
Therefore, prior art has yet to be improved and developed.
Utility model content
The purpose of this utility model is to provide a kind of automatic feeder tool hand, and to solve, applicability that in prior art, automatic feeder tool hand exists is strong, high cost, and the fuselage technical problem of easily rocking.
The technical solution of the utility model is as follows:
A kind of automatic feeder tool hand, wherein, comprises feeding manipulator, feeding platform, transfer conveyer belt, stretching mechanical arm and electric cabinet; The material loading hand that described feeding manipulator is provided with for transferring the workpiece on feeding platform is grabbed, and described feeding platform and material loading hand are grabbed to match and merged the lower position that is arranged on feeding manipulator; The adjacent setting of described feeding manipulator and stretching mechanical arm; Described transfer conveyer belt is arranged on the lower position of feeding manipulator and stretching mechanical arm; The stretching hand that described stretching mechanical arm is provided with for transferring the workpiece on transfer conveyer belt is grabbed; Described electric cabinet is electrically connected with feeding platform, feeding manipulator, transfer conveyer belt and stretching mechanical arm respectively.
Described automatic feeder tool hand, wherein, described feeding platform comprises for carrying workpiece and movable upper flitch, for driving the motor of flitch rise/fall on this and point double sheet mechanism for detection of workpiece quantity on feeding platform; Described point of double sheet mechanism is photoelectric detection system, is arranged at the position of matching with feeding manipulator; Between described motor and upper flitch, connect by screw rod.
Described automatic feeder tool hand, wherein, described feeding manipulator comprises the feeding manipulator transverse axis of along continuous straight runs and feeding manipulator vertical pivot vertically, described feeding manipulator transverse axis becomes right-angled intersection setting with feeding manipulator vertical pivot, on described feeding manipulator transverse axis and feeding manipulator vertical pivot, be all provided with transmission mechanism and servo motor, described material loading hand is grabbed the lower end that is arranged on feeding manipulator vertical pivot.
Described automatic feeder tool hand, wherein, described stretching mechanical arm comprises along the stretching mechanical arm transverse axis of horizontal direction and stretching mechanical arm vertical pivot vertically, described stretching mechanical arm transverse axis becomes right-angled intersection setting with stretching mechanical arm vertical pivot, on described stretching mechanical arm transverse axis and stretching mechanical arm vertical pivot, be all provided with transmission mechanism and servo motor, described stretching hand is grabbed the lower end that is arranged on stretching mechanical arm vertical pivot.
Described automatic feeder tool hand, wherein, also comprises double sheet testing agency, and described double sheet testing agency is arranged on the input of transfer conveyer belt, and described double sheet testing agency is electrically connected with electric cabinet.
Described automatic feeder tool hand, wherein, also comprises the mechanism that puts the oil, described in the mechanism that puts the oil be arranged on the output of transfer conveyer belt, described in the mechanism that puts the oil be electrically connected with electric cabinet.
Described automatic feeder tool hand, wherein, also wraps detent mechanism, and described detent mechanism is arranged on the terminal position of transfer conveyer belt, and with the mould infinite approach of punching press/stretching-machine, described detent mechanism is electrically connected with electric cabinet.
Described automatic feeder tool hand, wherein, described detent mechanism adopts two-way simultaneous retractable adjusting gear, and regulative mode is manual or motor regulates automatically, and induction mode is that 4 touching electric induction detect.
Described automatic feeder tool hand, wherein, also comprises double sheet collecting box, and described double sheet collecting box is arranged on the below of transfer conveyer belt.
The utility model is by dividing the feeding manipulator of automatic feeder tool hand and stretching mechanical arm to be arranged, be connected by transfer conveyer belt, effectively solved that the applicability that existing automatic feeder tool hand exists is strong, high cost, and fuselage such as easily rocks at the technical problem.
Brief description of the drawings
Fig. 1 is the front view of automatic feeder tool hand in the utility model.
Fig. 2 is the schematic perspective view of automatic feeder tool hand in the utility model.
Fig. 3 is the action flow chart of automatic feeder tool hand in the utility model.
Detailed description of the invention
For making the purpose of this utility model, technical scheme and advantage clearer, clear and definite, referring to the accompanying drawing embodiment that develops simultaneously, the utility model is further described.
As shown in the schematic perspective view of automatic feeder tool hand in the front view of automatic feeder tool hand in Fig. 1 the utility model and Fig. 2 the utility model, the utility model comprises feeding platform 1, feeding manipulator 2, stretching mechanical arm 3, transfer conveyer belt 4, point double sheet mechanism 5, double sheet testing agency 6, detent mechanism 7, the mechanism 8 that puts the oil, electric cabinet 9 and double sheet collection box 10.
Feeding platform 1 comprises for carrying workpiece and movable upper flitch, for driving the motor (not shown) of flitch rise/fall on this and point double sheet mechanism 5 for detection of workpiece on feeding platform 1, dividing double sheet mechanism 5 is photoelectric detection system, be arranged at the position of matching with feeding manipulator 2 and control upper flitch lifting height to realize, between motor and upper flitch, connect by screw rod.According to demand, feeding platform 1 can be set to single station, double or multistation, and double and multistation can be realized uninterrupted material loading in running, single station material loading again that will stop after tablet is finished.
Feeding manipulator 2 matches with feeding platform 1, feeding manipulator 2 comprises into right-angled intersection setting, the feeding manipulator transverse axis 21 of along continuous straight runs and feeding manipulator vertical pivot 22 vertically, be all provided with transmission mechanism and servo motor on feeding manipulator transverse axis 21 and feeding manipulator vertical pivot 22.And, adopt feeding manipulator transverse axis 21 to maintain static at this, the combination that feeding manipulator vertical pivot 22 can move up and down in the time that feeding manipulator transverse axis 21 directions are moved, this combination greatly reduces the production cost of manipulator itself, and improved stability, there is good applicability for underload workpiece.Feeding manipulator 2 also comprises that material loading hand grabs 23, and material loading hand is grabbed 23 and is arranged on the lower end of feeding manipulator vertical pivot 22, and matches with feeding platform 1 and realize the work of pickup from feeding platform 1.
The adjacent setting that is in line of stretching mechanical arm 3 and feeding manipulator 2.Stretching mechanical arm 3 comprises into right-angled intersection setting, along the stretching mechanical arm transverse axis 31 of horizontal direction and stretching mechanical arm vertical pivot 32 vertically, is also all provided with transmission mechanism and servo motor on stretching mechanical arm transverse axis 31 and stretching mechanical arm vertical pivot 32.Stretching mechanical arm transverse axis 31 and stretching mechanical arm vertical pivot 32 adopt stretching mechanical arm transverse axis 31 to maintain static, the combination that stretching mechanical arm vertical pivot 32 can move up and down in the time that stretching mechanical arm transverse axis 31 directions are moved.Stretching mechanical arm 3 also comprises that stretching hand grabs 33, and stretching paw 33 is arranged on the lower end of stretching mechanical arm vertical pivot 32, stretching hand grab 33 a kind of by different points of two kinds of forms of mould be in the time that mould is plane, stretching hand is grabbed 33 employings and directly releases the form of product; The second is that our stretching hand is grabbed the form that the mode of the flexible paw supplemental stroke of 33 employings is taken out product in the time that mould falls in.
Transfer conveyer belt 4 is arranged on the lower position of feeding mechanical hand 2 and stretching mechanical arm 3, is driven by transmission mechanism and servo motor (not shown).Double sheet testing agency 6 is arranged on transfer conveyer belt 4, the thickness of workpiece of carrying for detection of transfer conveyer belt 4.The output end position place of transfer conveyer belt 4 is provided with detent mechanism 7, the mould setting of detent mechanism 7 infinite approach stretching/stamping machines 11.The below of transfer conveyer belt 4 is provided with double sheet collection box 10.Feeding manipulator 2 is from feeding platform 1 after pickup, workpiece is placed on transfer conveyer belt 4, transfer conveyer belt 4 exports workpiece on detent mechanism 7 again, and workpiece is delivered to by stretching mechanical arm 3 on the mould of punching press/stretching-machine 11 again and processes behind detent mechanism 7 location.Detent mechanism 7 adopts two-way simultaneous retractable adjusting gear, regulative mode has two kinds, one is to adopt manual adjustments, one is to adopt motor automatically to regulate, induction mode adopts 4 touching electric induction to detect, and has eliminated resilience after workpiece puts in place and the workpiece situation not in place that causes, and positioning precision is high, the workpiece that can adapt to different sizes easy to adjust, highly versatile.In workpiece course of conveying, in double sheet being detected, double sheet testing agency 6 meeting output signals, stop transfer conveyer belt 4 and allow it reverse anti-double sheet workpiece double sheet collection box 10 the insides of delivering to, and do not need to shut down relief and manually go to process again.
The mechanism 8 that puts the oil is arranged on transfer conveyer belt 4, and is arranged on the rear operation position of double sheet testing agency 6.To the operation of putting the oil of the workpiece in course of conveying, the large I of oil mass regulates according to the specific requirement of processing.In the utility model, in the mechanism 8 that puts the oil, be provided with pressure maintaining valve (not shown), to stablize oil pump capacity, ensure fuel-displaced even.Putting the oil is divided into one side by different forms and puts the oil, two-sided putting the oil, and annular is put the oil.The mechanism 8 that puts the oil is made up of two groups of oiling roller (not shown)s, and its effect of putting the oil is more even than one group of oiling roller, and product is without distortion, and oiling roller material adopts polyurethane material or industrial felt.The oil supply system (not shown) of mechanism 8 of putting the oil adopts circulating fuel feeding, unnecessary turning back in fuel tank and continue to use through oil return basin after workpiece is put the oil.
The utility model also comprises electric cabinet 9, in electric cabinet 9, be provided with PLC controller (not shown), PLC controller is electrically connected with the servo motor of motor, feeding manipulator 2 and the stretching mechanical arm 3 of feeding platform in the utility model 1, to control its velocity of rotation and direction, PLC controller is also electrically connected with a point double sheet mechanism 5, double sheet testing agency 6, detent mechanism 7 and the mechanism 8 that puts the oil, to control its progress of work.Finally realize automatic feed dividing of the present utility model, material loading, automatic basting, automatically detect the object of double sheet, automatic feed and discharging.
As shown in the action flow chart of automatic feeder tool hand in Fig. 3 the utility model, the groundwork flow process of the automatic feeder tool hand that the utility model provides is, first, first manually workpiece is placed on feeding platform 1, a point double sheet mechanism 5 is passed through in workpiece jacking by feeding platform 1 jacking, feeding manipulator 1 vertical pivot declines and puts in place, material loading paw 23 grabbing workpieces rise by a point double sheet mechanism 5, feeding manipulator transverse axis 21 is delivered to workpiece on transfer conveyer belt 4, by transfer conveyer belt 4 workpiece through double sheet testing agency 6 with put the oil after mechanism 8, detent mechanism 7 places that arrive transfer conveyer belt 4 outputs position operation.Stretching mechanical arm vertical pivot 32 declines and allows stretching paw 33 can be drawn to workpiece, when being drawn to workpiece after-drawing manipulator vertical pivot 32, stretching paw 33 rises, stretching mechanical arm transverse axis 31 is delivered to workpiece in the mould in punching press/stretching-machine 11, the workpiece stretching is released or taken out simultaneously mould.
Can find out from above-described embodiment, the automation feeding manipulator that the utility model provides has the following advantages: (1), can enhance productivity, reducing operating personnel, a people can operate many punching press/stretching-machines simultaneously, avoid the generation of industrial accident, the stability that strengthens product is strong.(2), material loading paw 23 can carry out double sheet sub-material in grabbing workpiece, also can play a protective role to punching press/drawing die, in the time having double sheet to occur, can automatically detect, and avoids mould to draw quick-fried.(3), the mechanism 8 that puts the oil is arranged on transfer conveyer belt 4, in the course of conveying of workpiece, puts the oil, the large I of oil mass regulates according to on-the-spot specific requirement, can realize adjustable controlled at regular time and quantity, putting the oil is divided into one side by different forms and puts the oil, two-sided putting the oil, and annular is put the oil.(4), feeding manipulator 2 and stretching mechanical arm 3 adopt the integrated form of right-angled intersection, adopts transverse axis to maintain static and combination that vertical pivot moves up and down moving along X direction time, structurally more reasonable, installs simply, safeguards more convenient.(5), detent mechanism has adopted the form that is infinitely close to punching press/drawing die; greatly reduce the stroke of transverse axis transverse shifting; and adopt 4 touch-type inductions; when workpiece is had to good protection; owing to being the motion of four-way centering; the center that ensured better after changing workpiece and mould, on the same line, and can make the central point of workpiece consistent all the time to central point distance after replacing different size of mould, and die change and teaching are more easily realized.
Should be understood that; application of the present utility model is not limited to above-mentioned giving an example; for those of ordinary skills; can be improved according to the above description or be converted; as the PLC controller in electric cabinet 9 can be replaced with single-chip microcomputer; transfer conveyer belt 4 can be set to many etc., and all these improvement and conversion all should belong to the protection domain of the utility model claims.
Claims (9)
1. an automatic feeder tool hand, is characterized in that, comprises feeding manipulator, feeding platform, transfer conveyer belt, stretching mechanical arm and electric cabinet; The material loading hand that described feeding manipulator is provided with for transferring the workpiece on feeding platform is grabbed, and described feeding platform and material loading hand are grabbed to match and merged the lower position that is arranged on feeding manipulator; The adjacent setting of described feeding manipulator and stretching mechanical arm; Described transfer conveyer belt is arranged on the lower position of feeding manipulator and stretching mechanical arm; The stretching hand that described stretching mechanical arm is provided with for transferring the workpiece on transfer conveyer belt is grabbed; Described electric cabinet is electrically connected with feeding platform, feeding manipulator, transfer conveyer belt and stretching mechanical arm respectively.
2. automatic feeder tool hand according to claim 1, it is characterized in that, described feeding platform comprises for carrying workpiece and movable upper flitch, for driving the motor of flitch rise/fall on this and point double sheet mechanism for detection of workpiece quantity on feeding platform; Described point of double sheet mechanism is photoelectric detection system, is arranged at the position of matching with feeding manipulator; Between described motor and upper flitch, connect by screw rod.
3. automatic feeder tool hand according to claim 1, it is characterized in that, described feeding manipulator comprises the feeding manipulator transverse axis of along continuous straight runs and feeding manipulator vertical pivot vertically, described feeding manipulator transverse axis becomes right-angled intersection setting with feeding manipulator vertical pivot, on described feeding manipulator transverse axis and feeding manipulator vertical pivot, be all provided with transmission mechanism and servo motor, described material loading hand is grabbed the lower end that is arranged on feeding manipulator vertical pivot.
4. automatic feeder tool hand according to claim 1, it is characterized in that, described stretching mechanical arm comprises along the stretching mechanical arm transverse axis of horizontal direction and stretching mechanical arm vertical pivot vertically, described stretching mechanical arm transverse axis becomes right-angled intersection setting with stretching mechanical arm vertical pivot, on described stretching mechanical arm transverse axis and stretching mechanical arm vertical pivot, be all provided with transmission mechanism and servo motor, described stretching hand is grabbed the lower end that is arranged on stretching mechanical arm vertical pivot.
5. automatic feeder tool hand according to claim 1, is characterized in that, also comprises double sheet testing agency, and described double sheet testing agency is arranged on the input of transfer conveyer belt, and described double sheet testing agency is electrically connected with electric cabinet.
6. automatic feeder tool hand according to claim 1, is characterized in that, also comprises the mechanism that puts the oil, described in the mechanism that puts the oil be arranged on the output of transfer conveyer belt, described in the mechanism that puts the oil be electrically connected with electric cabinet.
7. automatic feeder tool hand according to claim 1, is characterized in that, also wrap detent mechanism, described detent mechanism is arranged on the terminal position of transfer conveyer belt, and with the mould infinite approach of punching press/stretching-machine, described detent mechanism is electrically connected with electric cabinet.
8. automatic feeder tool hand according to claim 7, is characterized in that, described detent mechanism adopts two-way simultaneous retractable adjusting gear, and regulative mode is manual or motor regulates automatically, and induction mode is that 4 touching electric induction detect.
9. automatic feeder tool hand according to claim 1, is characterized in that, also comprise double sheet collecting box, described double sheet collecting box is arranged on the below of transfer conveyer belt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420095867.5U CN203843043U (en) | 2014-03-04 | 2014-03-04 | Automatic feeding manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420095867.5U CN203843043U (en) | 2014-03-04 | 2014-03-04 | Automatic feeding manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN203843043U true CN203843043U (en) | 2014-09-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201420095867.5U Active CN203843043U (en) | 2014-03-04 | 2014-03-04 | Automatic feeding manipulator |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104493823A (en) * | 2014-11-05 | 2015-04-08 | 东莞市承恩自动化设备有限公司 | Conveying manipulator of automatic stretcher |
| CN104492898A (en) * | 2014-11-05 | 2015-04-08 | 东莞市承恩自动化设备有限公司 | Single-machine single-station stretching manipulator |
| CN104785655A (en) * | 2014-12-03 | 2015-07-22 | 佛山市艾乐博机器人科技有限公司 | Feeding and discharging mechanical arm and device for stamping process |
| CN105397450A (en) * | 2015-12-31 | 2016-03-16 | 宁波中亿自动化装备有限公司 | Synchronizer material loading machine |
| CN105397872A (en) * | 2015-11-30 | 2016-03-16 | 东莞市南兴家具装备制造股份有限公司 | Gantry type sheet feeding and discharging manipulator for woodwork |
| CN105903841A (en) * | 2016-04-25 | 2016-08-31 | 文晓阳 | Automatic feeding robot |
| CN106808733A (en) * | 2016-12-12 | 2017-06-09 | 安徽海拓志永智能装备股份有限公司 | The novel punching automation equipment of separate unit forcing press |
| CN108750740A (en) * | 2018-06-01 | 2018-11-06 | 佛山市中机超机器人科技有限公司 | A kind of multiaxis loading and unloading manipulator for exempting from stock shelf |
| CN109622877A (en) * | 2019-01-25 | 2019-04-16 | 江阴市东泰型钢彩板有限公司 | A kind of link-plate continuous automatic molding device |
| CN109748091A (en) * | 2017-11-03 | 2019-05-14 | 东莞市承恩自动化设备有限公司 | Multi-functional feeding manipulator |
| CN110987629A (en) * | 2020-03-03 | 2020-04-10 | 南京研华智能科技有限公司 | Full-automatic tensile test equipment and control system thereof |
-
2014
- 2014-03-04 CN CN201420095867.5U patent/CN203843043U/en active Active
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104492898B (en) * | 2014-11-05 | 2017-06-16 | 东莞市承恩自动化设备有限公司 | Single-machine single-station stretching manipulator |
| CN104492898A (en) * | 2014-11-05 | 2015-04-08 | 东莞市承恩自动化设备有限公司 | Single-machine single-station stretching manipulator |
| CN104493823A (en) * | 2014-11-05 | 2015-04-08 | 东莞市承恩自动化设备有限公司 | Conveying manipulator of automatic stretcher |
| CN104785655A (en) * | 2014-12-03 | 2015-07-22 | 佛山市艾乐博机器人科技有限公司 | Feeding and discharging mechanical arm and device for stamping process |
| CN105397872A (en) * | 2015-11-30 | 2016-03-16 | 东莞市南兴家具装备制造股份有限公司 | Gantry type sheet feeding and discharging manipulator for woodwork |
| CN105397450A (en) * | 2015-12-31 | 2016-03-16 | 宁波中亿自动化装备有限公司 | Synchronizer material loading machine |
| CN105903841A (en) * | 2016-04-25 | 2016-08-31 | 文晓阳 | Automatic feeding robot |
| CN106808733A (en) * | 2016-12-12 | 2017-06-09 | 安徽海拓志永智能装备股份有限公司 | The novel punching automation equipment of separate unit forcing press |
| CN106808733B (en) * | 2016-12-12 | 2018-04-03 | 安徽海拓志永智能装备股份有限公司 | The punching automation device of separate unit forcing press |
| CN109748091A (en) * | 2017-11-03 | 2019-05-14 | 东莞市承恩自动化设备有限公司 | Multi-functional feeding manipulator |
| CN108750740A (en) * | 2018-06-01 | 2018-11-06 | 佛山市中机超机器人科技有限公司 | A kind of multiaxis loading and unloading manipulator for exempting from stock shelf |
| CN109622877A (en) * | 2019-01-25 | 2019-04-16 | 江阴市东泰型钢彩板有限公司 | A kind of link-plate continuous automatic molding device |
| CN110987629A (en) * | 2020-03-03 | 2020-04-10 | 南京研华智能科技有限公司 | Full-automatic tensile test equipment and control system thereof |
| CN110987629B (en) * | 2020-03-03 | 2021-03-23 | 南京研华智能科技有限公司 | Full-automatic tensile test equipment and control system thereof |
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